Second coming: Britney returned to the show after her first guest spot received positive reviews

According to Kevin Federline's lawyer Mark Vincent Kaplan, relations between the former couple are beginning to improve.

Kaplan told the US Today Show: "If you're going to have two parents participate in the lives of raising their children, there has to be some camaraderie between them for that to be a meaningful expectation and reality."

A judge awarded Britney more visitation time with her sons last week, a decision which reflects an "improvement" in her condition, according to Kaplan.